Dynamics and Advanced Motion Control of Off-Road UGVs

Erscheinungsjahr 2020
ISBN: 978-0-12-818799-9
Verlag: Elsevier Science Publishing Co Inc

Buch, Englisch, 354 Seiten, Format (B × H): 152 mm x 229 mm, Gewicht: 570 g

Reihe: Emerging Methodologies and Applications in Modelling, Identification and Control

Dynamics and Advanced Motion Control of Unmanned Ground Off-Road Vehicles details both theoretical concepts such as planning and perception when working with UGVs, as well as more practical, hands-on aspects such as torque vectoring control. The book also covers related technologies such as intelligent and electrification of ground vehicles. After an introduction, initial chapters include an exploration of wheel-soil and track-soil interaction mechanisms, motion stability, motion control, fault detection and identification, and fault tolerance control. This book offers readers a detailed understanding of Unmanned Ground Vehicles by combining theory, applications and further developments.

Topics are covered in such a way that readers will be well versed on the current field of UGVs and will be able to implement future design and research in a feasible and effective way.

Zielgruppe

Undergraduate and postgraduate students of mechanical engineering, mechatronics, industrial engineering; professional engineers working on unmanned ground vehicles

Autoren/Hrsg.

Ma, Yue

Fachgebiete

• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik
• Technische Wissenschaften Verkehrstechnik | Transportgewerbe Intelligente & automatisierte Transportsysteme
• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik
• Technische Wissenschaften Verkehrstechnik | Transportgewerbe Fahrzeugtechnik

Inhaltsverzeichnis

1. Introduction

Part 1 - Modeling of off-road UGV 2. Modeling of track soil interaction for tracked unmanned ground vehicle 3. Dynamics of tracked UGVs in three-dimensional space 4. Modeling of driving modules of unmanned ground vehicle 5. Modeling of wheel soil interaction and dynamics of wheeled unmanned ground vehicle in three-dimensional space

Part 2 - Advanced motion control of UGV 6. Motion stability performance concepts 7. State and load observer of unmanned ground vehicle 8. Motion stability enhanced controller design 9. Power management technology 10. Torque vectoring technology

Part 3 - Fault tolerance control of off-road UGV 11. Fault detection and identification of unmanned ground vehicle 12. Fault-tolerance control of unmanned ground vehicle under off-road situation 13. Conclusions and prospects

Über Autor(innen)

Ma, Yue
Dr Yue Ma is an Associate Professor of Mechanical Engineering, Beijing Institute of Technology (BIT), Beijing, China. He obtained his MSc degree in vehicle engineering from BIT in 2002. In 2010, he obtained his PhD degree at Bristol Robotics Laboratory, University of the West of England, UK. He is a Committee Member of Youth Chapter, Organization of Aviation Utility Systems Engineering (AUS-CSAA), Chinese Society of Aeronautics and Astronautics, Member of Institute of Electrical and Electronics Engineers (MIEEE) and an Editorial Board Member, International Journal of Modelling, Identification and Control.